Consciousness Videos

State Space, Part 4: What Is LQR control?



MATLAB

Check out the other videos in the series:
Part 1 – The state space equations: https://youtu.be/hpeKrMG-WP0
Part 2 – Pole placement: https://youtu.be/FXSpHy8LvmY
Part 3 – Observability and Controllability: https://youtu.be/BYvTEfNAi38

The Linear Quadratic Regulator (LQR)
LQR is a type of optimal control that is based on state space representation. In this video, we introduce this topic at a very high level so that you walk away with a general understanding of the control problem and can build on this understanding when you are studying the math behind it. This video will cover what it means to be optimal and how to think about the LQR problem. At the end I’ll show you some examples in MATLAB that I think will help you gain a little intuition about LQR.

Check out these other resources!
Download the code for the UFO animation: http://bit.ly/2tbHFVJ
Integral action: http://bit.ly/2t4hwIr
LQR by Christopher Lum: https://youtu.be/wEevt2a4SKI
LQR by Steven Brunton: https://youtu.be/1_UobILf3cc
Solving LQR problem: http://bit.ly/2t5gc8k
Learn more about State Space Models: http://bit.ly/2HrtZQy

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39 thoughts on “State Space, Part 4: What Is LQR control?
  1. does it only work for "unforced" systems? I haven't seen a single tutorial on how to apply, say, a step reference using this, and when I tried it didn't really work.

  2. the matlab code doesnt work for me. I get the following error:
    Unrecognized function or variable 'rot'.

  3. It was really nice to see your videos, they were quite helpful as refresh and also maybe to understand better what I studied some years ago. Many thanks!

  4. Excuse me, have anyone tried running the code in MATLAB? Mine is version 2018a and when I try to run it, it detects error on the LQR function. I tried other LQR codes as well, from Katsuhiko Ogata's book for example. Does anyone know how to solve this? Thanks in advance.

  5. I knew it was brian the moment this video started, you are truly an amazing educator, some of your videos built my foundation in control!

  6. It's really interesting and explanations are really nice. I didn't find the R_tuning.m file. Can you tell me where I can find it ? Thank you so much

  7. Hello Brian, thank you for the great explanation. Could you tell me how you arrived at the mathematical model for actuator effort( for plotting) in your simulation?

  8. Hamiltonian? I need help implementing Hamiltonian.
    LQR is built in I've gotten to use it, but don't know how to graph it.
    Also, how'd you make the animation? I'd like to do something similar modeling a rocket landing, for example the falcon 9. Help meeeeeee!!!!!!!!!!!!!!!!!!!!

  9. These kind of videos can have the universities close their doors, and be left with certification only or distant learning. I mean who needs professors' lectures after this, really. 🙂 I have been familiar with pole placement and LQR for years, but really wanted to find the video explaining it in simple words for my own sake. The whole series is brilliant, I am leaving comment of gratefulness to this one in particular, for the reason I stumbled on it firstly. Great job is a diminutive here.

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